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<div class="title">hyper_graph.h</div>  </div>
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<a href="hyper__graph_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_AIS_HYPER_GRAPH_HH</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_AIS_HYPER_GRAPH_HH</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &lt;bitset&gt;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;cassert&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &lt;cstddef&gt;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifdef _MSC_VER</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;unordered_map&gt;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;tr1/unordered_map&gt;</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph.html">   58</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_hyper_graph.html">HyperGraph</a></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69e">   65</a></span>&#160;      <span class="keyword">enum</span>  <a class="code" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69e">HyperGraphElementType</a> {</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69ea4a278c79154a0d4c381a7e265d7048f5">   66</a></span>&#160;        <a class="code" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69ea4a278c79154a0d4c381a7e265d7048f5">HGET_VERTEX</a>,</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69ea32ab1204ad3640d91c59ce6fffe2e580">   67</a></span>&#160;        <a class="code" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69ea32ab1204ad3640d91c59ce6fffe2e580">HGET_EDGE</a>,</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69eaec8dd0de424ff24a18d3ba5ed3864f79">   68</a></span>&#160;        <a class="code" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69eaec8dd0de424ff24a18d3ba5ed3864f79">HGET_PARAMETER</a>,</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69eafdb05add70f035dced2b173de8431408">   69</a></span>&#160;        <a class="code" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69eafdb05add70f035dced2b173de8431408">HGET_CACHE</a>,</div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69eac780d65b4de763d230e9cad4378c46fa">   70</a></span>&#160;        <a class="code" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69eac780d65b4de763d230e9cad4378c46fa">HGET_DATA</a>,</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69eafe77ef3192f9be61982957b0a3e2f6a6">   71</a></span>&#160;        <a class="code" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69eafe77ef3192f9be61982957b0a3e2f6a6">HGET_NUM_ELEMS</a> <span class="comment">// keep as last elem</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      };</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph.html#a7b8fda20e1b03e92aeceeac6e8218b73">   74</a></span>&#160;      <span class="keyword">typedef</span> std::bitset&lt;HyperGraph::HGET_NUM_ELEMS&gt; <a class="code" href="classg2o_1_1_hyper_graph.html#a7b8fda20e1b03e92aeceeac6e8218b73">GraphElemBitset</a>;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">class  </span><a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">Vertex</a>;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">class  </span><a class="code" href="classg2o_1_1_hyper_graph_1_1_edge.html">Edge</a>;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      </div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html">   82</a></span>&#160;      <span class="keyword">struct  </span><a class="code" href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html">HyperGraphElement</a> {</div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html#ab02c385ff2bd544037e2bef795761b2e">   83</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html#ab02c385ff2bd544037e2bef795761b2e">~HyperGraphElement</a>() {}</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69e">HyperGraphElementType</a> <a class="code" href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html#a1a9d7b748698c09d202373e06e413ef2">elementType</a>() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      };</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">   90</a></span>&#160;      <span class="keyword">typedef</span> std::set&lt;Edge*&gt;                           <a class="code" href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">EdgeSet</a>;</div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">   91</a></span>&#160;      <span class="keyword">typedef</span> std::set&lt;Vertex*&gt;                         <a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">VertexSet</a>;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph.html#a97307eac064ebf4b3e2cfbf0718035b5">   93</a></span>&#160;      <span class="keyword">typedef</span> std::tr1::unordered_map&lt;int, Vertex*&gt;     <a class="code" href="classg2o_1_1_hyper_graph.html#a97307eac064ebf4b3e2cfbf0718035b5">VertexIDMap</a>;</div><div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph.html#a9339534c99300a0ddac87ba976ef188c">   94</a></span>&#160;      <span class="keyword">typedef</span> std::vector&lt;Vertex*&gt;                      <a class="code" href="classg2o_1_1_hyper_graph.html#a9339534c99300a0ddac87ba976ef188c">VertexContainer</a>;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph_1_1_vertex.html">   97</a></span>&#160;      <span class="keyword">class  </span><a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">Vertex</a> : <span class="keyword">public</span> <a class="code" href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html">HyperGraphElement</a> {</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="keyword">public</span>:</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          <span class="keyword">explicit</span> <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">Vertex</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>=-1);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          <span class="keyword">virtual</span> ~<a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">Vertex</a>();</div><div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a48191960395856d1b686287489e53da3">  103</a></span>&#160;          <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a48191960395856d1b686287489e53da3">id</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _id;}</div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph_1_1_vertex.html#ac861d25447d8ff167d23c45458f7382f">  104</a></span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html#ac861d25447d8ff167d23c45458f7382f">setId</a>( <span class="keywordtype">int</span> newId) { _id=newId; }</div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a3794ff3310c1dc05619bf0b77eaa4caa">  106</a></span>&#160;          <span class="keyword">const</span> EdgeSet&amp; <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a3794ff3310c1dc05619bf0b77eaa4caa">edges</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_hyper_graph.html#afe4ae6e9ef05c8bded2b1b30e1886b36">_edges</a>;}</div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a35cbf4ea796797bb5d9c35a41454e8fb">  108</a></span>&#160; 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       <span class="keyword">protected</span>:</div><div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph_1_1_vertex.html#ac643fa36a6d666d64925281b11de9b92">  111</a></span>&#160;          <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html#ac643fa36a6d666d64925281b11de9b92">_id</a>;</div><div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a8d732ebb72a545332a5bdc478b558430">  112</a></span>&#160;          EdgeSet <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a8d732ebb72a545332a5bdc478b558430">_edges</a>;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      };</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph_1_1_edge.html">  119</a></span>&#160;      <span class="keyword">class  </span><a class="code" href="classg2o_1_1_hyper_graph_1_1_edge.html">Edge</a> : <span class="keyword">public</span> <a class="code" href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html">HyperGraphElement</a> {</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keyword">public</span>:</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          <span class="keyword">explicit</span> <a class="code" href="classg2o_1_1_hyper_graph_1_1_edge.html">Edge</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span> = -1);</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;          <span class="keyword">virtual</span> ~<a class="code" href="classg2o_1_1_hyper_graph_1_1_edge.html">Edge</a>();</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; 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<a class="code" href="classg2o_1_1_hyper_graph.html#a83132c77c8d0896581d168cbc72f673a">_vertices</a>.size() &amp;&amp; <span class="stringliteral">&quot;index out of bounds&quot;</span>); <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_hyper_graph.html#a83132c77c8d0896581d168cbc72f673a">_vertices</a>[i];}</div><div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph_1_1_edge.html#a5e957658d6e65c49b81197d052a7f16f">  148</a></span>&#160;          <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_hyper_graph_1_1_edge.html#a5e957658d6e65c49b81197d052a7f16f">setVertex</a>(<span class="keywordtype">size_t</span> i, <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">Vertex</a>* v) { assert(i &lt; <a class="code" href="classg2o_1_1_hyper_graph.html#a83132c77c8d0896581d168cbc72f673a">_vertices</a>.size() &amp;&amp; <span class="stringliteral">&quot;index out of bounds&quot;</span>); <a class="code" href="classg2o_1_1_hyper_graph.html#a83132c77c8d0896581d168cbc72f673a">_vertices</a>[i]=v;}</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph_1_1_edge.html#a93f47febcbd6c654fc3344d4643a087f">  150</a></span>&#160;          <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_hyper_graph_1_1_edge.html#a93f47febcbd6c654fc3344d4643a087f">id</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _id;}</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          <span class="keywordtype">void</span> setId(<span class="keywordtype">int</span> <span class="keywordtype">id</span>);</div><div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classg2o_1_1_hyper_graph_1_1_edge.html#a04f1b4d408aebdf14ac3f0cfd247b776">  152</a></span>&#160; 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}</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  };</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_hyper_graph_html_a2f9f023fe2fb491ef9af873b9e683006"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a2f9f023fe2fb491ef9af873b9e683006">g2o::HyperGraph::edges</a></div><div class="ttdeci">EdgeSet &amp; edges()</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:184</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a4edfd2ef4bf235cf78031c505cfd2fcc"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a4edfd2ef4bf235cf78031c505cfd2fcc">g2o::HyperGraph::edges</a></div><div class="ttdeci">const EdgeSet &amp; edges() const</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:182</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_af603119d5d3475aed6e34ee9d701b69ea4a278c79154a0d4c381a7e265d7048f5"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69ea4a278c79154a0d4c381a7e265d7048f5">g2o::HyperGraph::HGET_VERTEX</a></div><div class="ttdef"><b>Definition:</b> hyper_graph.h:66</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_edge_html"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_edge.html">g2o::HyperGraph::Edge</a></div><div class="ttdoc">Abstract Edge class. </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:119</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_af603119d5d3475aed6e34ee9d701b69eac780d65b4de763d230e9cad4378c46fa"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69eac780d65b4de763d230e9cad4378c46fa">g2o::HyperGraph::HGET_DATA</a></div><div class="ttdef"><b>Definition:</b> hyper_graph.h:70</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a833632b111cfc7cf08b842ae3cb43d41"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a833632b111cfc7cf08b842ae3cb43d41">g2o::HyperGraph::HyperGraph</a></div><div class="ttdeci">HyperGraph()</div><div class="ttdoc">constructs an empty hyper graph </div><div class="ttdef"><b>Definition:</b> hyper_graph.cpp:147</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_vertex_html_ac643fa36a6d666d64925281b11de9b92"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_vertex.html#ac643fa36a6d666d64925281b11de9b92">g2o::HyperGraph::Vertex::_id</a></div><div class="ttdeci">int _id</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:111</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_edge_html_aabb036d331fc7f2524ec8611b638de92"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_edge.html#aabb036d331fc7f2524ec8611b638de92">g2o::HyperGraph::Edge::_vertices</a></div><div class="ttdeci">VertexContainer _vertices</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:154</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html">g2o::HyperGraph</a></div><div class="ttdoc">Class that models a directed Hyper-Graph. </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:58</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_af603119d5d3475aed6e34ee9d701b69eaec8dd0de424ff24a18d3ba5ed3864f79"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69eaec8dd0de424ff24a18d3ba5ed3864f79">g2o::HyperGraph::HGET_PARAMETER</a></div><div class="ttdef"><b>Definition:</b> hyper_graph.h:68</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a95fcf7cd9d89562b2c26d99ede3548ed"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a95fcf7cd9d89562b2c26d99ede3548ed">g2o::HyperGraph::vertices</a></div><div class="ttdeci">const VertexIDMap &amp; vertices() const</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:177</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_edge_html_a67d1c5cb557deab9e9e361c63359fe60"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_edge.html#a67d1c5cb557deab9e9e361c63359fe60">g2o::HyperGraph::Edge::vertices</a></div><div class="ttdeci">VertexContainer &amp; vertices()</div><div class="ttdoc">returns the vector of pointers to the vertices connected by the hyper-edge. </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:136</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a6b629dff2928dbd704ca81f24858e72f"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a6b629dff2928dbd704ca81f24858e72f">g2o::HyperGraph::clear</a></div><div class="ttdeci">virtual void clear()</div><div class="ttdoc">clears the graph and empties all structures. </div><div class="ttdef"><b>Definition:</b> hyper_graph.cpp:151</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a703938cdb4bb636860eed55a2489d70c"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">g2o::HyperGraph::VertexSet</a></div><div class="ttdeci">std::set&lt; Vertex * &gt; VertexSet</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:91</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_edge_html_af544d5d17d900c5aa2b5c9219d8e716f"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_edge.html#af544d5d17d900c5aa2b5c9219d8e716f">g2o::HyperGraph::Edge::vertex</a></div><div class="ttdeci">Vertex * vertex(size_t i)</div><div class="ttdoc">returns the pointer to the ith vertex connected to the hyper-edge. </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:144</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_vertex_html_a3794ff3310c1dc05619bf0b77eaa4caa"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a3794ff3310c1dc05619bf0b77eaa4caa">g2o::HyperGraph::Vertex::edges</a></div><div class="ttdeci">const EdgeSet &amp; edges() const</div><div class="ttdoc">returns the set of hyper-edges that are leaving/entering in this vertex </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:106</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_vertex_html_a8f214b9065b88a3aafff7442380476ab"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a8f214b9065b88a3aafff7442380476ab">g2o::HyperGraph::Vertex::elementType</a></div><div class="ttdeci">virtual HyperGraphElementType elementType() const</div><div class="ttdoc">returns the type of the graph element, see HyperGraphElementType </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:109</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a97ab8302aa027d513253387bba9e0dd5"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a97ab8302aa027d513253387bba9e0dd5">g2o::HyperGraph::removeVertex</a></div><div class="ttdeci">virtual bool removeVertex(Vertex *v)</div><div class="ttdoc">removes a vertex from the graph. Returns true on success (vertex was present) </div><div class="ttdef"><b>Definition:</b> hyper_graph.cpp:111</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_edge_html_aba1717ff01f972bd39ba992c0d9d9e04"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_edge.html#aba1717ff01f972bd39ba992c0d9d9e04">g2o::HyperGraph::Edge::vertices</a></div><div class="ttdeci">const VertexContainer &amp; vertices() const</div><div class="ttdoc">returns the vector of pointers to the vertices connected by the hyper-edge. </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:132</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_vertex_html"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_vertex.html">g2o::HyperGraph::Vertex</a></div><div class="ttdoc">abstract Vertex, your types must derive from that one </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:97</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a7b8fda20e1b03e92aeceeac6e8218b73"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a7b8fda20e1b03e92aeceeac6e8218b73">g2o::HyperGraph::GraphElemBitset</a></div><div class="ttdeci">std::bitset&lt; HyperGraph::HGET_NUM_ELEMS &gt; GraphElemBitset</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:74</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_edge_html_aa1b6978624f7c165a4e0461cb5ff18fa"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_edge.html#aa1b6978624f7c165a4e0461cb5ff18fa">g2o::HyperGraph::Edge::_id</a></div><div class="ttdeci">int _id</div><div class="ttdoc">unique id </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:155</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a0f1d35009a2879b238c8148c33485c89"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a0f1d35009a2879b238c8148c33485c89">g2o::HyperGraph::addEdge</a></div><div class="ttdeci">virtual bool addEdge(Edge *e)</div><div class="ttdoc">Adds an edge to the graph. </div><div class="ttdef"><b>Definition:</b> hyper_graph.cpp:99</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a650107c875ef6f43d438d7d3e2ddf797"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a650107c875ef6f43d438d7d3e2ddf797">g2o::HyperGraph::vertices</a></div><div class="ttdeci">VertexIDMap &amp; vertices()</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:179</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_af603119d5d3475aed6e34ee9d701b69e"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69e">g2o::HyperGraph::HyperGraphElementType</a></div><div class="ttdeci">HyperGraphElementType</div><div class="ttdoc">enum of all the types we have in our graphs </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:65</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a97307eac064ebf4b3e2cfbf0718035b5"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a97307eac064ebf4b3e2cfbf0718035b5">g2o::HyperGraph::VertexIDMap</a></div><div class="ttdeci">std::tr1::unordered_map&lt; int, Vertex * &gt; VertexIDMap</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:93</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_af603119d5d3475aed6e34ee9d701b69eafe77ef3192f9be61982957b0a3e2f6a6"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69eafe77ef3192f9be61982957b0a3e2f6a6">g2o::HyperGraph::HGET_NUM_ELEMS</a></div><div class="ttdef"><b>Definition:</b> hyper_graph.h:71</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_afe4ae6e9ef05c8bded2b1b30e1886b36"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#afe4ae6e9ef05c8bded2b1b30e1886b36">g2o::HyperGraph::_edges</a></div><div class="ttdeci">EdgeSet _edges</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:208</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_ab19a6e0681e2b30d48740cebf553c7eb"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#ab19a6e0681e2b30d48740cebf553c7eb">g2o::HyperGraph::HyperGraph</a></div><div class="ttdeci">HyperGraph(const HyperGraph &amp;)</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:212</div></div>
<div class="ttc" id="structg2o_1_1_hyper_graph_1_1_hyper_graph_element_html"><div class="ttname"><a href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html">g2o::HyperGraph::HyperGraphElement</a></div><div class="ttdoc">base hyper graph element, specialized in vertex and edge </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:82</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_vertex_html_ac861d25447d8ff167d23c45458f7382f"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_vertex.html#ac861d25447d8ff167d23c45458f7382f">g2o::HyperGraph::Vertex::setId</a></div><div class="ttdeci">virtual void setId(int newId)</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:104</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_edge_html_a93f47febcbd6c654fc3344d4643a087f"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_edge.html#a93f47febcbd6c654fc3344d4643a087f">g2o::HyperGraph::Edge::id</a></div><div class="ttdeci">int id() const</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:150</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_ab07fe8bd9982a66ba34e83dff8317ea2"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#ab07fe8bd9982a66ba34e83dff8317ea2">g2o::HyperGraph::vertex</a></div><div class="ttdeci">Vertex * vertex(int id)</div><div class="ttdoc">returns a vertex id in the hyper-graph, or 0 if the vertex id is not present </div><div class="ttdef"><b>Definition:</b> hyper_graph.cpp:60</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_vertex_html_a35cbf4ea796797bb5d9c35a41454e8fb"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a35cbf4ea796797bb5d9c35a41454e8fb">g2o::HyperGraph::Vertex::edges</a></div><div class="ttdeci">EdgeSet &amp; edges()</div><div class="ttdoc">returns the set of hyper-edges that are leaving/entering in this vertex </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:108</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_edge_html_a5e957658d6e65c49b81197d052a7f16f"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_edge.html#a5e957658d6e65c49b81197d052a7f16f">g2o::HyperGraph::Edge::setVertex</a></div><div class="ttdeci">void setVertex(size_t i, Vertex *v)</div><div class="ttdoc">set the ith vertex on the hyper-edge to the pointer supplied </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:148</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_aace0adc6b03e56bf6b554368d49dcf88"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#aace0adc6b03e56bf6b554368d49dcf88">g2o::HyperGraph::operator=</a></div><div class="ttdeci">HyperGraph &amp; operator=(const HyperGraph &amp;)</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:213</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a33e5a60705ce673d647aa1613da9d99b"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a33e5a60705ce673d647aa1613da9d99b">g2o::HyperGraph::removeEdge</a></div><div class="ttdeci">virtual bool removeEdge(Edge *e)</div><div class="ttdoc">removes a vertex from the graph. Returns true on success (edge was present) </div><div class="ttdef"><b>Definition:</b> hyper_graph.cpp:129</div></div>
<div class="ttc" id="structg2o_1_1_hyper_graph_1_1_hyper_graph_element_html_ab02c385ff2bd544037e2bef795761b2e"><div class="ttname"><a href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html#ab02c385ff2bd544037e2bef795761b2e">g2o::HyperGraph::HyperGraphElement::~HyperGraphElement</a></div><div class="ttdeci">virtual ~HyperGraphElement()</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:83</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a7ef87ba3479827b24c6fc29c5fc3aa21"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a7ef87ba3479827b24c6fc29c5fc3aa21">g2o::HyperGraph::addVertex</a></div><div class="ttdeci">virtual bool addVertex(Vertex *v)</div><div class="ttdoc">adds a vertex to the graph. </div><div class="ttdef"><b>Definition:</b> hyper_graph.cpp:76</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a0ef6e1d65e0f9171a518bce3fc559693"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a0ef6e1d65e0f9171a518bce3fc559693">g2o::HyperGraph::~HyperGraph</a></div><div class="ttdeci">virtual ~HyperGraph()</div><div class="ttdoc">destroys the hyper-graph and all the vertices of the graph </div><div class="ttdef"><b>Definition:</b> hyper_graph.cpp:161</div></div>
<div class="ttc" id="structg2o_1_1_hyper_graph_1_1_hyper_graph_element_html_a1a9d7b748698c09d202373e06e413ef2"><div class="ttname"><a href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html#a1a9d7b748698c09d202373e06e413ef2">g2o::HyperGraph::HyperGraphElement::elementType</a></div><div class="ttdeci">virtual HyperGraphElementType elementType() const =0</div><div class="ttdoc">returns the type of the graph element, see HyperGraphElementType </div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a9339534c99300a0ddac87ba976ef188c"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a9339534c99300a0ddac87ba976ef188c">g2o::HyperGraph::VertexContainer</a></div><div class="ttdeci">std::vector&lt; Vertex * &gt; VertexContainer</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:94</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a5e2970e236c0dcb4eff7c205d7b6b4ae"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">g2o::HyperGraph::EdgeSet</a></div><div class="ttdeci">std::set&lt; Edge * &gt; EdgeSet</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:90</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_vertex_html_a8d732ebb72a545332a5bdc478b558430"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a8d732ebb72a545332a5bdc478b558430">g2o::HyperGraph::Vertex::_edges</a></div><div class="ttdeci">EdgeSet _edges</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:112</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_edge_html_a04f1b4d408aebdf14ac3f0cfd247b776"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_edge.html#a04f1b4d408aebdf14ac3f0cfd247b776">g2o::HyperGraph::Edge::elementType</a></div><div class="ttdeci">virtual HyperGraphElementType elementType() const</div><div class="ttdoc">returns the type of the graph element, see HyperGraphElementType </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:152</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_af603119d5d3475aed6e34ee9d701b69eafdb05add70f035dced2b173de8431408"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69eafdb05add70f035dced2b173de8431408">g2o::HyperGraph::HGET_CACHE</a></div><div class="ttdef"><b>Definition:</b> hyper_graph.h:69</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_af603119d5d3475aed6e34ee9d701b69ea32ab1204ad3640d91c59ce6fffe2e580"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69ea32ab1204ad3640d91c59ce6fffe2e580">g2o::HyperGraph::HGET_EDGE</a></div><div class="ttdef"><b>Definition:</b> hyper_graph.h:67</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_edge_html_ab644c1c4e38a0112db1435fbc0233f25"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_edge.html#ab644c1c4e38a0112db1435fbc0233f25">g2o::HyperGraph::Edge::vertex</a></div><div class="ttdeci">const Vertex * vertex(size_t i) const</div><div class="ttdoc">returns the pointer to the ith vertex connected to the hyper-edge. </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:140</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_vertex_html_a48191960395856d1b686287489e53da3"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a48191960395856d1b686287489e53da3">g2o::HyperGraph::Vertex::id</a></div><div class="ttdeci">int id() const</div><div class="ttdoc">returns the id </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:103</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a74f0d7392e67762a85799db72a58a94c"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a74f0d7392e67762a85799db72a58a94c">g2o::HyperGraph::changeId</a></div><div class="ttdeci">virtual bool changeId(Vertex *v, int newId)</div><div class="ttdoc">changes the id of a vertex already in the graph, and updates the bookkeeping @ returns false if the v...</div><div class="ttdef"><b>Definition:</b> hyper_graph.cpp:89</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a83132c77c8d0896581d168cbc72f673a"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a83132c77c8d0896581d168cbc72f673a">g2o::HyperGraph::_vertices</a></div><div class="ttdeci">VertexIDMap _vertices</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:207</div></div>
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